Background： The treatment of high-grade developmental spondylolisthesis （HGDS） is still challenging and controversial. In this study, we investigated the efficacy of the posterior reduction and monosegmental fusion...Background： The treatment of high-grade developmental spondylolisthesis （HGDS） is still challenging and controversial. In this study, we investigated the efficacy of the posterior reduction and monosegmental fusion assisted by intraoperative three-dimensional （3D） navigation system in managing the HGDS. Methods： Thirteen consecutive HGDS patients were treated with posterior decompression, reduction and monosegmental fusion ofL5/S1, assisted by intraoperative 3D navigation system. The clinical and radiographic outcomes were evaluated, with a minimum follow-up of 2 years. The differences between the pre- and post-operative measures were statistically analyzed using a two-tailed, paired t-test. Results： At most recent follow-up, 12 patients were pain-free. Only l patient had moderate pain, There were no permanent neurological complications or pseudarthrosis. The magnetic resonance imaging showed that there was no obvious disc degeneration in the adjacent segment. All radiographic parameters were improved. Mean slippage improved from 63.2% before surgery to 12.2% after surgery and 11.0% at latest follow-up. Lumbar lordosis changed from preoperative 34.9 ± 13.3° to postoperative 50.4 ±9.9°, and 49.3 ± 7.8° at last follow-up. L5 incidence improved from 71.0 ± 11.3° to 54.0 ± 1 1.9° and did not change significantly at the last follow-up 53.±1 15.4°. While pelvic incidence remained unchanged, sacral slip significantly decreased from preoperative 32.7± 12.5° to postoperative 42.6 ± 9.8°and remained constant to the last follow-up 44.4 ± 6.9°. Pelvic tilt significantly decreased from 38.4±12.5° to 30.9± 8.1° and remained unchanged at the last fbllow-up 28.1± 11.2°. Conclusions： Posterior reduction and monosegmental fusion of L5/S1 assisted by intraoperative 3D navigation are an effective technique for managing high-grade dysplastic spondylolisthesis. A complete reduction of local deformity and excellent correction of overall sagittal balance can be achieved.展开更多
Under the strategic framework of rural revitalization and agricultural modernization, Xinjiashan Specialty Coffee Base, located in Zaotang Village, Lujiang Town, Longyang District, Baoshan City, has been proactively i...Under the strategic framework of rural revitalization and agricultural modernization, Xinjiashan Specialty Coffee Base, located in Zaotang Village, Lujiang Town, Longyang District, Baoshan City, has been proactively investigating innovative models for agricultural development. Through extensive communication and collaboration, this base has established close partnerships with research institutions including Kunming University of Science and Technology, Baoshan University, and Yunnan Academy of Agricultural Sciences, with a commitment to thoroughly exploring the potential for resource recycling and ecological complementarity. An innovative four-in-one three-dimensional integrated planting system incorporating "coffee, bananas, green manure, and bees" has been implemented. Concurrently, technological and digital management strategies have been comprehensively integrated to improve planting efficiency. Under this model, the proportion of specialty coffee attains 71%, and the per-unit yield is 17% greater than that of the conventional planting model. This approach not only substantially enhances economic returns but also promotes the integrated development of ecological and social benefits, offering a valuable practical example and experiential reference for the specialty and sustainable advancement of the coffee industry in comparable regions.展开更多
Aerial surveys are dynamic and continuous processes,and there are different height distributions of the ground in the measurement area,which leads to problems such as overlapping measurement areas and inaccurate altit...Aerial surveys are dynamic and continuous processes,and there are different height distributions of the ground in the measurement area,which leads to problems such as overlapping measurement areas and inaccurate altitude correction during the survey process.Commonly used terrain correction methods are based on the concept of finite elementization of ground surface radioactive sources,using GPS coordinates,radar altitude,and ground elevation distribution information from aerial surveys,combined with the sourceless efficiency calibration method to construct a response matrix,which is then inverted for surface nuclide content.However,most of the sourceless efficiency calibration methods used are numerical calculations that consider the body detector as a point detector and do not consider the changes in intrinsic detection efficiency under different incident directions of gamma rays.Therefore,when the altitude of the measurement area varies significantly or the flight altitude of the aerial survey is relatively low,such sourceless efficiency calibration method calculations tend to have a large bias,which affects the accuracy of the terrain correction.To address the above problems,this study employs a novel sourceless efficiency calibration method based on the Boolean operation of the ray deposition process and simplifies the traditional body source measurement model to a surface source measurement model to achieve fast and accurate efficiency calibration.Then,through the discretization of the measurement process,the static measurement process is superposed as equivalent to the dynamic measurement process,and the dynamic measurement response matrix is built and optimized based on the calibration method.Finally,the PSO-MLEM algorithm was used to solve the dynamic measurement response matrix to achieve dynamic terrain correction of aerial survey data.Analysis of the Baiyun'ebo test area revealed that,after applying dynamic terrain correction,the inverted anomalies in uranium(eU),thorium(eTh),and potassium(K)concentrations were closer to ground measurements(within 5.72%-30.79%)and exhibited clearer anomaly boundaries compared to traditional height-based corrections.However,owing to the inherent statistical fluctuations and characteristics of matrix inversion,higher measurement values tend to absorb lower ones,potentially enlarging the anomalous regions.Nevertheless,the highanomaly regions after inversion largely coincided with the ground truth validation,demonstrating that the proposed method can effectively correct airborne gamma spectrometry data.展开更多
The satellite-based augmentation system(SBAS)provides differential and integrity augmentation services for life safety fields of aviation and navigation.However,the signal structure of SBAS is public,which incurs a ri...The satellite-based augmentation system(SBAS)provides differential and integrity augmentation services for life safety fields of aviation and navigation.However,the signal structure of SBAS is public,which incurs a risk of spoofing attacks.To improve the anti-spoofing capability of the SBAS,European Union and the United States conduct research on navigation message authentication,and promote the standardization of SBAS message authentication.For the development of Beidou satellite-based augmentation system(BDSBAS),this paper proposes navigation message authentication based on the Chinese commercial cryptographic standards.Firstly,this paper expounds the architecture and principles of the SBAS message authentication,and then carries out the design of timed efficient streaming losstolerant authentication scheme(TESLA)and elliptic curve digital signature algorithm(ECDSA)authentication schemes based on Chinese commercial cryptographic standards,message arrangement and the design of over-the-air rekeying(OTAR)message.Finally,this paper conducts a theoretical analysis of the time between authentications(TBA)and maximum authentication latency(MAL)for L5 TESLA-I and L5 ECDSA-Q,and further simulates the reception time of OTAR message,TBA and MAL from the aspects of OTAR message weight and demodulation error rate.The simulation results can provide theoretical supports for the standardization of BDSBAS message authentication.展开更多
Surgical navigation has evolved significantly through advances in augmented reality,virtual reality,and mixed reality,improving precision and safety across many clinical applications,including neurosurgery,maxillofaci...Surgical navigation has evolved significantly through advances in augmented reality,virtual reality,and mixed reality,improving precision and safety across many clinical applications,including neurosurgery,maxillofacial,spinal,and arthroplasty procedures.By integrating preoperative imaging with real-time intraoperative data,these systems provide dynamic guidance,reduce radiation exposure,and minimize tissue damage.Key challenges persist,including intraoperative registration accuracy,flexible tissue deformation,respiratory compensation,and real-time imaging quality.Emerging solutions include artificial intelligence-driven segmentation,deformation-field modeling,and hybrid registration techniques.Future developments will include lightweight,portable systems,improved non-rigid registration algorithms,and greater clinical adoption.Despite advances in rigid-tissue applications,soft-tissue navigation requires additional innovation to address motion variability and registration reliability,ultimately advancing minimally invasive surgery and precision medicine.展开更多
The current inertial measurement unit(IMU)and odometry fusion navigation algorithms often incorporate non-holonomic constraints(NHC)to obtain three-dimensional velocity in the navigation frame.However,due to the integ...The current inertial measurement unit(IMU)and odometry fusion navigation algorithms often incorporate non-holonomic constraints(NHC)to obtain three-dimensional velocity in the navigation frame.However,due to the integral nature of the dead reckoning algorithm,the attitude errors of the IMU accumulate over time,causing the velocity transformation results to fail to accurately reflect the threedimensional velocity in the navigation frame.Based on the fact that during a vehicle's horizontal and uniform motion,the vertical acceleration is consistent with gravitational acceleration,this paper proposes an IMU/odometry fusion navigation algorithm based on horizontal attitude constraints(HAC).Building on non-holonomic constraints,this algorithm determines the motion state of the vehicle through accelerometer output and zeroes out the pitch and roll angles during horizontal and uniform motion.Verified through two sets of real-world vehicle test data,this algorithm improves horizontal positioning accuracy by approximately 63%and 70%,and vertical positioning accuracy by 98%and 97%,compared with the traditional NHC IMU/odometer fusion algorithm.展开更多
With the advancement of surgical techniques and enhanced management of early gastric cancer(EGC),minimally invasive function-preserving surgical approaches have emerged as a common goal for patients and clinicians.Lap...With the advancement of surgical techniques and enhanced management of early gastric cancer(EGC),minimally invasive function-preserving surgical approaches have emerged as a common goal for patients and clinicians.Laparoscopic-endoscopic cooperative surgery combined with sentinel lymph node navigation surgery(LECSSNNS)has drawn increasing interest because of its dual benefits of minimal invasiveness and organ function preservation.However,robust evidence-based support for guiding clinical implementation remains limited.To address this gap,we systematically evaluated available studies on the clinical application of LECS-SNNS in EGC and integrated expert insights to formulate 20 recommendations.These included preoperative assessment,surgical techniques,intraoperative endoscopic procedures,pathological evaluation,postoperative care,and follow-up.This consensus aimed to provide comprehensive guidance for the standardized application of LECS-SNNS,thereby advancing precise,minimally invasive,and function-preserving treatment for EGC.展开更多
According to the Mindlin plate theory and the first-order piston theory,this work obtains accurate closed-form eigensolutions for the flutter problem of three-dimensional(3D)rectangular laminated panels.The governing ...According to the Mindlin plate theory and the first-order piston theory,this work obtains accurate closed-form eigensolutions for the flutter problem of three-dimensional(3D)rectangular laminated panels.The governing differential equations are derived by the Hamilton's variational principle,and then solved by the iterative Separation-of-Variable(i SOV)method,which are applicable to arbitrary combinations of homogeneous Boundary Conditions(BCs).However,only the simply-support,clamped and cantilever panels are considered in this work for the sake of clarity.With the closed-form eigensolutions,the flutter frequency,flutter mode and flutter boundary are presented,and the effect of shear deformation and aerodynamic damping on flutter frequencies is investigated.Besides,the relation between panel energy and the work of aerodynamic load is discussed.The numerical comparisons reveal the following.(A)The flutter eigenvalues obtained by the present method are accurate,validated by the Finite Element Method(FEM)and the Galerkin method.(B)When the span-chord ratio is larger than 3,simplifying a 3D panel to 2D(two-dimensional)panel is reasonable and the relative differences of the flutter points predicted by the two models are less than one percent.(C)The reciprocal relationship between the mechanical energy of the panel and the work done by aerodynamic load is verified by using the present flutter eigenvalues and modes,further indicating the high accuracy of the present solutions.(D)The coupling of shear deformation and aerodynamic damping prevents frequency coalescing.展开更多
Unmanned Aerial Vehicle(UAV)plays a prominent role in various fields,and autonomous navigation is a crucial component of UAV intelligence.Deep Reinforcement Learning(DRL)has expanded the research avenues for addressin...Unmanned Aerial Vehicle(UAV)plays a prominent role in various fields,and autonomous navigation is a crucial component of UAV intelligence.Deep Reinforcement Learning(DRL)has expanded the research avenues for addressing challenges in autonomous navigation.Nonetheless,challenges persist,including getting stuck in local optima,consuming excessive computations during action space exploration,and neglecting deterministic experience.This paper proposes a noise-driven enhancement strategy.In accordance with the overall learning phases,a global noise control method is designed,while a differentiated local noise control method is developed by analyzing the exploration demands of four typical situations encountered by UAV during navigation.Both methods are integrated into a dual-model for noise control to regulate action space exploration.Furthermore,noise dual experience replay buffers are designed to optimize the rational utilization of both deterministic and noisy experience.In uncertain environments,based on the Twin Delay Deep Deterministic Policy Gradient(TD3)algorithm with Long Short-Term Memory(LSTM)network and Priority Experience Replay(PER),a Noise-Driven Enhancement Priority Memory TD3(NDE-PMTD3)is developed.We established a simulation environment to compare different algorithms,and the performance of the algorithms is analyzed in various scenarios.The training results indicate that the proposed algorithm accelerates the convergence speed and enhances the convergence stability.In test experiments,the proposed algorithm successfully and efficiently performs autonomous navigation tasks in diverse environments,demonstrating superior generalization results.展开更多
With the continuous development of digital medicine,minimally invasive precision and safety have become the primary development trends in hepatobiliary surgery.Due to the specificity and complexity of hepatobiliary su...With the continuous development of digital medicine,minimally invasive precision and safety have become the primary development trends in hepatobiliary surgery.Due to the specificity and complexity of hepatobiliary surgery,traditional preoperative imaging techniques such as computed tomography and magnetic resonance imaging cannot meet the need for identification of fine anatomical regions.Imaging-based three-dimensional(3D)reconstruction,virtual simulation of surgery and 3D printing optimize the surgical plan through preoperative assessment,improving the controllability and safety of intraoperative operations,and in difficult-to-reach areas of the posterior and superior liver,assistive robots reproduce the surgeon’s natural movements with stable cameras,reducing natural vibrations.Electromagnetic navigation in abdominal surgery solves the problem of conventional surgery still relying on direct visual observation or preoperative image assessment.We summarize and compare these recent trends in digital medical solutions for the future development and refinement of digital medicine in hepatobiliary surgery.展开更多
At present, new integrated navigation, which usesthe location function of reference gravity anomaly map to control the errors of the inertial navigation system (INS), has been developed in marine navigation. It is nam...At present, new integrated navigation, which usesthe location function of reference gravity anomaly map to control the errors of the inertial navigation system (INS), has been developed in marine navigation. It is named the gravity-aided INS. Both the INS and real-time computation of gravity anomalies need a 3-D marine normal gravity model. Conventionally, a reduction method applied in geophysical survey is directiy introduced to observed data processing. This reduction does not separate anomaly from normal gravity in the observed data, so errors cannot be avoided. The 3-D marine normal gravity model was derived from the J2 gravity model, and is suitable for the region whose depth is less than 1000 m.展开更多
BACKGROUND Prior studies have shown that preserving the left colic artery(LCA)during laparo-scopic radical resection for rectal cancer(RC)can reduce the occurrence of anasto-motic leakage(AL),without compromising onco...BACKGROUND Prior studies have shown that preserving the left colic artery(LCA)during laparo-scopic radical resection for rectal cancer(RC)can reduce the occurrence of anasto-motic leakage(AL),without compromising oncological outcomes.However,anatomical variations in the branches of the inferior mesenteric artery(IMA)and LCA present significant surgical challenges.In this study,we present our novel three dimensional(3D)printed IMA model designed to facilitate preoperative rehearsal and intraoperative navigation to analyze its impact on surgical safety.AIM To investigate the effect of 3D IMA models on preserving the LCA during RC surgery.METHODS We retrospectively collected clinical dates from patients with RC who underwent laparoscopic radical resection from January 2022 to May 2024 at Fuyang People’s Hospital.Patients were divided into the 3D printing and control groups for sta-tistical analysis of perioperative characteristics.RESULTS The 3D printing observation group comprised of 72 patients,while the control group comprised 68 patients.The operation time(174.5±38.2 minutes vs 198.5±49.6 minutes,P=0.002),intraoperative blood loss(43.9±31.3 mL vs 58.2±30.8 mL,P=0.005),duration of hospitalization(13.1±3.1 days vs 15.9±5.6 days,P<0.001),postoperative recovery time(8.6±2.6 days vs 10.5±4.9 days,P=0.007),and the postoperative complication rate(P<0.05)were all significantly lower in the observation group.CONCLUSION Utilization of a 3D-printed IMA model in laparoscopic radical resection of RC can assist surgeons in understanding the LCA anatomy preoperatively,thereby reducing intraoperative bleeding and shortening operating time,demonstrating better clinical application potential.展开更多
To evaluate the feasibility and accuracy of a three-dimensional augmented reality system incorporating integral videography for imaging oral and maxillofacial regions, based on preoperative computed tomography data. T...To evaluate the feasibility and accuracy of a three-dimensional augmented reality system incorporating integral videography for imaging oral and maxillofacial regions, based on preoperative computed tomography data. Three-dimensional surface models of the jawbones, based on the computed tomography data, were used to create the integral videography images of a subject＇s maxillofacial area. The three-dimensional augmented reality system （integral videography display, computed tomography, a position tracker and a computer） was used to generate a three-dimensional overlay that was projected on the surgical site via a half-silvered mirror. Thereafter, a feasibility study was performed on a volunteer. The accuracy of this system was verified on a solid model while simulating bone resection. Positional registration was attained by identifying and tracking the patient/surgical instrument＇s position. Thus, integral videography images of jawbones, teeth and the surgical tool were superimposed in the correct position. Stereoscopic images viewed from various angles were accurately displayed. Change in the viewing angle did not negatively affect the surgeon＇s ability to simultaneously observe the three-dimensional images and the patient, without special glasses. The difference in three-dimensional position of each measuring point on the solid model and augmented reality navigation was almost negligible （〈1 mm）; this indicates that the system was highly accurate. This augmented reality system was highly accurate and effective for surgical navigation and for overlaying a three-dimensional computed tomography image on a patient＇s surgical area, enabling the surgeon to understand the positional relationship between the preoperative image and the actual surgical site, with the naked eye.展开更多
A precise knowledge of intra-parenchymal vascular and biliary architecture and the location of lesions in relation to the complex anatomy is indispensable to perform liver surgery.Therefore,virtual three-dimensional(3...A precise knowledge of intra-parenchymal vascular and biliary architecture and the location of lesions in relation to the complex anatomy is indispensable to perform liver surgery.Therefore,virtual three-dimensional(3D)-reconstruction models from computed tomography/magnetic resonance imaging scans of the liver might be helpful for visualization.Augmented reality,mixed reality and 3Dnavigation could transfer such 3D-image data directly into the operation theater to support the surgeon.This review examines the literature about the clinical and intraoperative use of these image guidance techniques in liver surgery and provides the reader with the opportunity to learn about these techniques.Augmented reality and mixed reality have been shown to be feasible for the use in open and minimally invasive liver surgery.3D-navigation facilitated targeting of intraparenchymal lesions.The existing data is limited to small cohorts and description about technical details e.g.,accordance between the virtual 3D-model and the real liver anatomy.Randomized controlled trials regarding clinical data or oncological outcome are not available.Up to now there is no intraoperative application of artificial intelligence in liver surgery.The usability of all these sophisticated image guidance tools has still not reached the grade of immersion which would be necessary for a widespread use in the daily surgical routine.Although there are many challenges,augmented reality,mixed reality,3Dnavigation and artificial intelligence are emerging fields in hepato-biliary surgery.展开更多
Background and Objective Electromagnetic navigation technology has demonstrated significant potential in enhancing the accuracy and safety of neurosurgical procedures.However,traditional electromagnetic navigation sys...Background and Objective Electromagnetic navigation technology has demonstrated significant potential in enhancing the accuracy and safety of neurosurgical procedures.However,traditional electromagnetic navigation systems face challenges such as high equipment costs,complex operation,bulky size,and insufficient anti-interference performance.To address these limitations,our study developed and validated a novel portable electromagnetic neuronavigation system designed to improve the precision,accessibility,and clinical applicability of electromagnetic navigation technology in cranial surgery.Methods The software and hardware architecture of a portable neural magnetic navigation system was designed.The key technologies of the system were analysed,including electromagnetic positioning algorithms,miniaturized sensor design,optimization of electromagnetic positioning and navigation algorithms,anti-interference signal processing methods,and fast three-dimensional reconstruction algorithms.A prototype was developed,and its accuracy was tested.Finally,a preliminary clinical application evaluation was conducted.Results This study successfully developed a comprehensive portable electromagnetic neuronavigation system capable of achieving preoperative planning,intraoperative real-time positioning and navigation,and postoperative evaluation of navigation outcomes.Through rigorous collaborative testing of the system’s software and hardware,the accuracy of electromagnetic neuronavigation has been validated to meet clinical requirements.Conclusions This study developed a portable neuroelectromagnetic navigation system and validated its effectiveness and safety through rigorous model testing and preliminary clinical applications.The system is characterized by its compact size,high precision,excellent portability,and user-friendly operation,making it highly valuable for promoting navigation technology and advancing the precision and minimally invasive nature of neurosurgical procedures.展开更多
As the core information infrastructure of modern information warfare,the offensive and defensive confrontations of satellite navigation systems have given rise to navigation warfare,which focuses on seizing control of...As the core information infrastructure of modern information warfare,the offensive and defensive confrontations of satellite navigation systems have given rise to navigation warfare,which focuses on seizing control of navigation resources.Based on the space segment,control segment,and user segment of satellite navigation systems,this paper systematically constructs an offensive-defensive technology system for navigation warfare,and deeply analyzes core measures such as signal enhancement and suppression,autonomous navigation and link jamming,anti-jamming reception,and integrated navigation.It extracts key technologies including adaptive nulling antennas,joint filtering,and multi-dimensional combined jamming,and discusses the technical effectiveness of these technologies by incorporating relevant cases.The advantages of navigation warfare stem from multi-segment coordination and technological inte-gration.In the future,the development directions of navigation warfare will focus on three aspects:enhancing satellite capabilities,tackling core technical challenges,and building a multi-dimensional system.展开更多
In multiple Unmanned Aerial Vehicles(UAV)systems,achieving efficient navigation is essential for executing complex tasks and enhancing autonomy.Traditional navigation methods depend on predefined control strategies an...In multiple Unmanned Aerial Vehicles(UAV)systems,achieving efficient navigation is essential for executing complex tasks and enhancing autonomy.Traditional navigation methods depend on predefined control strategies and trajectory planning and often perform poorly in complex environments.To improve the UAV-environment interaction efficiency,this study proposes a multi-UAV integrated navigation algorithm based on Deep Reinforcement Learning(DRL).This algorithm integrates the Inertial Navigation System(INS),Global Navigation Satellite System(GNSS),and Visual Navigation System(VNS)for comprehensive information fusion.Specifically,an improved multi-UAV integrated navigation algorithm called Information Fusion with MultiAgent Deep Deterministic Policy Gradient(IF-MADDPG)was developed.This algorithm enables UAVs to learn collaboratively and optimize their flight trajectories in real time.Through simulations and experiments,test scenarios in GNSS-denied environments were constructed to evaluate the effectiveness of the algorithm.The experimental results demonstrate that the IF-MADDPG algorithm significantly enhances the collaborative navigation capabilities of multiple UAVs in formation maintenance and GNSS-denied environments.Additionally,it has advantages in terms of mission completion time.This study provides a novel approach for efficient collaboration in multi-UAV systems,which significantly improves the robustness and adaptability of navigation systems.展开更多
To address the problem of multi-missile cooperative interception against maneuvering targets at a prespecified impact time and desired Line-of-Sight(LOS)angles in ThreeDimensional(3D)space,this paper proposes a 3D lea...To address the problem of multi-missile cooperative interception against maneuvering targets at a prespecified impact time and desired Line-of-Sight(LOS)angles in ThreeDimensional(3D)space,this paper proposes a 3D leader-following cooperative interception guidance law.First,in the LOS direction of the leader,an impact time-controlled guidance law is derived based on the fixed-time stability theory,which enables the leader to complete the interception task at a prespecified impact time.Next,in the LOS direction of the followers,by introducing a time consensus tracking error function,a fixed-time consensus tracking guidance law is investigated to guarantee the consensus tracking convergence of the time-to-go.Then,in the direction normal to the LOS,by combining the designed global integral sliding mode surface and the second-order Sliding Mode Control(SMC)theory,an innovative 3D LOS-angle-constrained interception guidance law is developed,which eliminates the reaching phase in the traditional sliding mode guidance laws and effectively saves energy consumption.Moreover,it effectively suppresses the chattering phenomenon while avoiding the singularity issue,and compensates for unknown interference caused by target maneuvering online,making it convenient for practical engineering applications.Finally,theoretical proof analysis and multiple sets of numerical simulation results verify the effectiveness,superiority,and robustness of the investigated guidance law.展开更多
文摘Background： The treatment of high-grade developmental spondylolisthesis （HGDS） is still challenging and controversial. In this study, we investigated the efficacy of the posterior reduction and monosegmental fusion assisted by intraoperative three-dimensional （3D） navigation system in managing the HGDS. Methods： Thirteen consecutive HGDS patients were treated with posterior decompression, reduction and monosegmental fusion ofL5/S1, assisted by intraoperative 3D navigation system. The clinical and radiographic outcomes were evaluated, with a minimum follow-up of 2 years. The differences between the pre- and post-operative measures were statistically analyzed using a two-tailed, paired t-test. Results： At most recent follow-up, 12 patients were pain-free. Only l patient had moderate pain, There were no permanent neurological complications or pseudarthrosis. The magnetic resonance imaging showed that there was no obvious disc degeneration in the adjacent segment. All radiographic parameters were improved. Mean slippage improved from 63.2% before surgery to 12.2% after surgery and 11.0% at latest follow-up. Lumbar lordosis changed from preoperative 34.9 ± 13.3° to postoperative 50.4 ±9.9°, and 49.3 ± 7.8° at last follow-up. L5 incidence improved from 71.0 ± 11.3° to 54.0 ± 1 1.9° and did not change significantly at the last follow-up 53.±1 15.4°. While pelvic incidence remained unchanged, sacral slip significantly decreased from preoperative 32.7± 12.5° to postoperative 42.6 ± 9.8°and remained constant to the last follow-up 44.4 ± 6.9°. Pelvic tilt significantly decreased from 38.4±12.5° to 30.9± 8.1° and remained unchanged at the last fbllow-up 28.1± 11.2°. Conclusions： Posterior reduction and monosegmental fusion of L5/S1 assisted by intraoperative 3D navigation are an effective technique for managing high-grade dysplastic spondylolisthesis. A complete reduction of local deformity and excellent correction of overall sagittal balance can be achieved.
文摘Under the strategic framework of rural revitalization and agricultural modernization, Xinjiashan Specialty Coffee Base, located in Zaotang Village, Lujiang Town, Longyang District, Baoshan City, has been proactively investigating innovative models for agricultural development. Through extensive communication and collaboration, this base has established close partnerships with research institutions including Kunming University of Science and Technology, Baoshan University, and Yunnan Academy of Agricultural Sciences, with a commitment to thoroughly exploring the potential for resource recycling and ecological complementarity. An innovative four-in-one three-dimensional integrated planting system incorporating "coffee, bananas, green manure, and bees" has been implemented. Concurrently, technological and digital management strategies have been comprehensively integrated to improve planting efficiency. Under this model, the proportion of specialty coffee attains 71%, and the per-unit yield is 17% greater than that of the conventional planting model. This approach not only substantially enhances economic returns but also promotes the integrated development of ecological and social benefits, offering a valuable practical example and experiential reference for the specialty and sustainable advancement of the coffee industry in comparable regions.
基金supported by the National Key Research and Development Program(No.2022YFC2807400)the National Natural Science Foundation of China(Nos.12265003 and 12205044)。
文摘Aerial surveys are dynamic and continuous processes,and there are different height distributions of the ground in the measurement area,which leads to problems such as overlapping measurement areas and inaccurate altitude correction during the survey process.Commonly used terrain correction methods are based on the concept of finite elementization of ground surface radioactive sources,using GPS coordinates,radar altitude,and ground elevation distribution information from aerial surveys,combined with the sourceless efficiency calibration method to construct a response matrix,which is then inverted for surface nuclide content.However,most of the sourceless efficiency calibration methods used are numerical calculations that consider the body detector as a point detector and do not consider the changes in intrinsic detection efficiency under different incident directions of gamma rays.Therefore,when the altitude of the measurement area varies significantly or the flight altitude of the aerial survey is relatively low,such sourceless efficiency calibration method calculations tend to have a large bias,which affects the accuracy of the terrain correction.To address the above problems,this study employs a novel sourceless efficiency calibration method based on the Boolean operation of the ray deposition process and simplifies the traditional body source measurement model to a surface source measurement model to achieve fast and accurate efficiency calibration.Then,through the discretization of the measurement process,the static measurement process is superposed as equivalent to the dynamic measurement process,and the dynamic measurement response matrix is built and optimized based on the calibration method.Finally,the PSO-MLEM algorithm was used to solve the dynamic measurement response matrix to achieve dynamic terrain correction of aerial survey data.Analysis of the Baiyun'ebo test area revealed that,after applying dynamic terrain correction,the inverted anomalies in uranium(eU),thorium(eTh),and potassium(K)concentrations were closer to ground measurements(within 5.72%-30.79%)and exhibited clearer anomaly boundaries compared to traditional height-based corrections.However,owing to the inherent statistical fluctuations and characteristics of matrix inversion,higher measurement values tend to absorb lower ones,potentially enlarging the anomalous regions.Nevertheless,the highanomaly regions after inversion largely coincided with the ground truth validation,demonstrating that the proposed method can effectively correct airborne gamma spectrometry data.
基金supported by National Natural Science Foundation of China:Space-based occultation detection with ground-based GNSS atmospheric horizontal gradient model(41904033).
文摘The satellite-based augmentation system(SBAS)provides differential and integrity augmentation services for life safety fields of aviation and navigation.However,the signal structure of SBAS is public,which incurs a risk of spoofing attacks.To improve the anti-spoofing capability of the SBAS,European Union and the United States conduct research on navigation message authentication,and promote the standardization of SBAS message authentication.For the development of Beidou satellite-based augmentation system(BDSBAS),this paper proposes navigation message authentication based on the Chinese commercial cryptographic standards.Firstly,this paper expounds the architecture and principles of the SBAS message authentication,and then carries out the design of timed efficient streaming losstolerant authentication scheme(TESLA)and elliptic curve digital signature algorithm(ECDSA)authentication schemes based on Chinese commercial cryptographic standards,message arrangement and the design of over-the-air rekeying(OTAR)message.Finally,this paper conducts a theoretical analysis of the time between authentications(TBA)and maximum authentication latency(MAL)for L5 TESLA-I and L5 ECDSA-Q,and further simulates the reception time of OTAR message,TBA and MAL from the aspects of OTAR message weight and demodulation error rate.The simulation results can provide theoretical supports for the standardization of BDSBAS message authentication.
基金Supported by the National Natural Science Foundation of China(NSFC)under Grants 62025104,62422102,62331005,62301034,and U22A2052the Beijing Natural Science Foundation-Daxing Innovation Joint Fund(L256040).
文摘Surgical navigation has evolved significantly through advances in augmented reality,virtual reality,and mixed reality,improving precision and safety across many clinical applications,including neurosurgery,maxillofacial,spinal,and arthroplasty procedures.By integrating preoperative imaging with real-time intraoperative data,these systems provide dynamic guidance,reduce radiation exposure,and minimize tissue damage.Key challenges persist,including intraoperative registration accuracy,flexible tissue deformation,respiratory compensation,and real-time imaging quality.Emerging solutions include artificial intelligence-driven segmentation,deformation-field modeling,and hybrid registration techniques.Future developments will include lightweight,portable systems,improved non-rigid registration algorithms,and greater clinical adoption.Despite advances in rigid-tissue applications,soft-tissue navigation requires additional innovation to address motion variability and registration reliability,ultimately advancing minimally invasive surgery and precision medicine.
基金from the National Key Research and Development Program project"Adaptive Navigation Software and Hardware Technology(2018YFB0505200)."。
文摘The current inertial measurement unit(IMU)and odometry fusion navigation algorithms often incorporate non-holonomic constraints(NHC)to obtain three-dimensional velocity in the navigation frame.However,due to the integral nature of the dead reckoning algorithm,the attitude errors of the IMU accumulate over time,causing the velocity transformation results to fail to accurately reflect the threedimensional velocity in the navigation frame.Based on the fact that during a vehicle's horizontal and uniform motion,the vertical acceleration is consistent with gravitational acceleration,this paper proposes an IMU/odometry fusion navigation algorithm based on horizontal attitude constraints(HAC).Building on non-holonomic constraints,this algorithm determines the motion state of the vehicle through accelerometer output and zeroes out the pitch and roll angles during horizontal and uniform motion.Verified through two sets of real-world vehicle test data,this algorithm improves horizontal positioning accuracy by approximately 63%and 70%,and vertical positioning accuracy by 98%and 97%,compared with the traditional NHC IMU/odometer fusion algorithm.
基金supported by National Key Research and Development Program of China(No.2023YFC2507406)National Natural Science Foundation of China(No.82300646)+6 种基金Beijing Natural Science Foundation(No.7232334)Beijing Municipal Administration of Hospitals Incubating Program(No.PX2024002,PX2020001)Capital Fund for Health Development Scientific Research(No.2024-2-2028)Beijing Municipal Science&Technology Commission AI+Health Collaborative Innovation Cultivation Project(No.Z241100007724004)Research Ward Excellence Program of Beijing Municipal Health Commission(No.BRWEP2024W162020100,BRWEP2024W162020112,BRWEP2024W162020114)Excellent Plan for Capital Medicine Scientific and Technological Innovation Achievement Transformation Promotion Plan(No.YC202401QX0824)Clinical Scientific Research Fund of Beijing Integrated Medical Association[No.ZHKY-2025-1869(B012)]。
文摘With the advancement of surgical techniques and enhanced management of early gastric cancer(EGC),minimally invasive function-preserving surgical approaches have emerged as a common goal for patients and clinicians.Laparoscopic-endoscopic cooperative surgery combined with sentinel lymph node navigation surgery(LECSSNNS)has drawn increasing interest because of its dual benefits of minimal invasiveness and organ function preservation.However,robust evidence-based support for guiding clinical implementation remains limited.To address this gap,we systematically evaluated available studies on the clinical application of LECS-SNNS in EGC and integrated expert insights to formulate 20 recommendations.These included preoperative assessment,surgical techniques,intraoperative endoscopic procedures,pathological evaluation,postoperative care,and follow-up.This consensus aimed to provide comprehensive guidance for the standardized application of LECS-SNNS,thereby advancing precise,minimally invasive,and function-preserving treatment for EGC.
基金support of the National Natural Science Foundation of China(No.12172023)。
文摘According to the Mindlin plate theory and the first-order piston theory,this work obtains accurate closed-form eigensolutions for the flutter problem of three-dimensional(3D)rectangular laminated panels.The governing differential equations are derived by the Hamilton's variational principle,and then solved by the iterative Separation-of-Variable(i SOV)method,which are applicable to arbitrary combinations of homogeneous Boundary Conditions(BCs).However,only the simply-support,clamped and cantilever panels are considered in this work for the sake of clarity.With the closed-form eigensolutions,the flutter frequency,flutter mode and flutter boundary are presented,and the effect of shear deformation and aerodynamic damping on flutter frequencies is investigated.Besides,the relation between panel energy and the work of aerodynamic load is discussed.The numerical comparisons reveal the following.(A)The flutter eigenvalues obtained by the present method are accurate,validated by the Finite Element Method(FEM)and the Galerkin method.(B)When the span-chord ratio is larger than 3,simplifying a 3D panel to 2D(two-dimensional)panel is reasonable and the relative differences of the flutter points predicted by the two models are less than one percent.(C)The reciprocal relationship between the mechanical energy of the panel and the work done by aerodynamic load is verified by using the present flutter eigenvalues and modes,further indicating the high accuracy of the present solutions.(D)The coupling of shear deformation and aerodynamic damping prevents frequency coalescing.
基金the Collaborative Innovation Project of Shanghai,China for the financial support。
文摘Unmanned Aerial Vehicle(UAV)plays a prominent role in various fields,and autonomous navigation is a crucial component of UAV intelligence.Deep Reinforcement Learning(DRL)has expanded the research avenues for addressing challenges in autonomous navigation.Nonetheless,challenges persist,including getting stuck in local optima,consuming excessive computations during action space exploration,and neglecting deterministic experience.This paper proposes a noise-driven enhancement strategy.In accordance with the overall learning phases,a global noise control method is designed,while a differentiated local noise control method is developed by analyzing the exploration demands of four typical situations encountered by UAV during navigation.Both methods are integrated into a dual-model for noise control to regulate action space exploration.Furthermore,noise dual experience replay buffers are designed to optimize the rational utilization of both deterministic and noisy experience.In uncertain environments,based on the Twin Delay Deep Deterministic Policy Gradient(TD3)algorithm with Long Short-Term Memory(LSTM)network and Priority Experience Replay(PER),a Noise-Driven Enhancement Priority Memory TD3(NDE-PMTD3)is developed.We established a simulation environment to compare different algorithms,and the performance of the algorithms is analyzed in various scenarios.The training results indicate that the proposed algorithm accelerates the convergence speed and enhances the convergence stability.In test experiments,the proposed algorithm successfully and efficiently performs autonomous navigation tasks in diverse environments,demonstrating superior generalization results.
基金Supported by National Natural Science Foundation of China,No.82070638 and No.81770621and JSPS KAKENHI,No.JP18H02866.
文摘With the continuous development of digital medicine,minimally invasive precision and safety have become the primary development trends in hepatobiliary surgery.Due to the specificity and complexity of hepatobiliary surgery,traditional preoperative imaging techniques such as computed tomography and magnetic resonance imaging cannot meet the need for identification of fine anatomical regions.Imaging-based three-dimensional(3D)reconstruction,virtual simulation of surgery and 3D printing optimize the surgical plan through preoperative assessment,improving the controllability and safety of intraoperative operations,and in difficult-to-reach areas of the posterior and superior liver,assistive robots reproduce the surgeon’s natural movements with stable cameras,reducing natural vibrations.Electromagnetic navigation in abdominal surgery solves the problem of conventional surgery still relying on direct visual observation or preoperative image assessment.We summarize and compare these recent trends in digital medical solutions for the future development and refinement of digital medicine in hepatobiliary surgery.
文摘At present, new integrated navigation, which usesthe location function of reference gravity anomaly map to control the errors of the inertial navigation system (INS), has been developed in marine navigation. It is named the gravity-aided INS. Both the INS and real-time computation of gravity anomalies need a 3-D marine normal gravity model. Conventionally, a reduction method applied in geophysical survey is directiy introduced to observed data processing. This reduction does not separate anomaly from normal gravity in the observed data, so errors cannot be avoided. The 3-D marine normal gravity model was derived from the J2 gravity model, and is suitable for the region whose depth is less than 1000 m.
基金Supported by the Health Commission of Fuyang City,No.FY2021-18Bengbu Medical College of Bengbu City,No.2023byzd215the Health Commission Anhui Provence,No.AHWJ2023BAa20164.
文摘BACKGROUND Prior studies have shown that preserving the left colic artery(LCA)during laparo-scopic radical resection for rectal cancer(RC)can reduce the occurrence of anasto-motic leakage(AL),without compromising oncological outcomes.However,anatomical variations in the branches of the inferior mesenteric artery(IMA)and LCA present significant surgical challenges.In this study,we present our novel three dimensional(3D)printed IMA model designed to facilitate preoperative rehearsal and intraoperative navigation to analyze its impact on surgical safety.AIM To investigate the effect of 3D IMA models on preserving the LCA during RC surgery.METHODS We retrospectively collected clinical dates from patients with RC who underwent laparoscopic radical resection from January 2022 to May 2024 at Fuyang People’s Hospital.Patients were divided into the 3D printing and control groups for sta-tistical analysis of perioperative characteristics.RESULTS The 3D printing observation group comprised of 72 patients,while the control group comprised 68 patients.The operation time(174.5±38.2 minutes vs 198.5±49.6 minutes,P=0.002),intraoperative blood loss(43.9±31.3 mL vs 58.2±30.8 mL,P=0.005),duration of hospitalization(13.1±3.1 days vs 15.9±5.6 days,P<0.001),postoperative recovery time(8.6±2.6 days vs 10.5±4.9 days,P=0.007),and the postoperative complication rate(P<0.05)were all significantly lower in the observation group.CONCLUSION Utilization of a 3D-printed IMA model in laparoscopic radical resection of RC can assist surgeons in understanding the LCA anatomy preoperatively,thereby reducing intraoperative bleeding and shortening operating time,demonstrating better clinical application potential.
基金supported by a Grant-in-Aid for Scientific Research (22659366) from the Japan Society for the Promotion of Science
文摘To evaluate the feasibility and accuracy of a three-dimensional augmented reality system incorporating integral videography for imaging oral and maxillofacial regions, based on preoperative computed tomography data. Three-dimensional surface models of the jawbones, based on the computed tomography data, were used to create the integral videography images of a subject＇s maxillofacial area. The three-dimensional augmented reality system （integral videography display, computed tomography, a position tracker and a computer） was used to generate a three-dimensional overlay that was projected on the surgical site via a half-silvered mirror. Thereafter, a feasibility study was performed on a volunteer. The accuracy of this system was verified on a solid model while simulating bone resection. Positional registration was attained by identifying and tracking the patient/surgical instrument＇s position. Thus, integral videography images of jawbones, teeth and the surgical tool were superimposed in the correct position. Stereoscopic images viewed from various angles were accurately displayed. Change in the viewing angle did not negatively affect the surgeon＇s ability to simultaneously observe the three-dimensional images and the patient, without special glasses. The difference in three-dimensional position of each measuring point on the solid model and augmented reality navigation was almost negligible （〈1 mm）; this indicates that the system was highly accurate. This augmented reality system was highly accurate and effective for surgical navigation and for overlaying a three-dimensional computed tomography image on a patient＇s surgical area, enabling the surgeon to understand the positional relationship between the preoperative image and the actual surgical site, with the naked eye.
文摘A precise knowledge of intra-parenchymal vascular and biliary architecture and the location of lesions in relation to the complex anatomy is indispensable to perform liver surgery.Therefore,virtual three-dimensional(3D)-reconstruction models from computed tomography/magnetic resonance imaging scans of the liver might be helpful for visualization.Augmented reality,mixed reality and 3Dnavigation could transfer such 3D-image data directly into the operation theater to support the surgeon.This review examines the literature about the clinical and intraoperative use of these image guidance techniques in liver surgery and provides the reader with the opportunity to learn about these techniques.Augmented reality and mixed reality have been shown to be feasible for the use in open and minimally invasive liver surgery.3D-navigation facilitated targeting of intraparenchymal lesions.The existing data is limited to small cohorts and description about technical details e.g.,accordance between the virtual 3D-model and the real liver anatomy.Randomized controlled trials regarding clinical data or oncological outcome are not available.Up to now there is no intraoperative application of artificial intelligence in liver surgery.The usability of all these sophisticated image guidance tools has still not reached the grade of immersion which would be necessary for a widespread use in the daily surgical routine.Although there are many challenges,augmented reality,mixed reality,3Dnavigation and artificial intelligence are emerging fields in hepato-biliary surgery.
基金funded by National Natural Science Foundation of China(No.82272134)Innovative Research Group Project of the National Natural Science Foundation of China(No.82272134,Xiao-lei Chen).
文摘Background and Objective Electromagnetic navigation technology has demonstrated significant potential in enhancing the accuracy and safety of neurosurgical procedures.However,traditional electromagnetic navigation systems face challenges such as high equipment costs,complex operation,bulky size,and insufficient anti-interference performance.To address these limitations,our study developed and validated a novel portable electromagnetic neuronavigation system designed to improve the precision,accessibility,and clinical applicability of electromagnetic navigation technology in cranial surgery.Methods The software and hardware architecture of a portable neural magnetic navigation system was designed.The key technologies of the system were analysed,including electromagnetic positioning algorithms,miniaturized sensor design,optimization of electromagnetic positioning and navigation algorithms,anti-interference signal processing methods,and fast three-dimensional reconstruction algorithms.A prototype was developed,and its accuracy was tested.Finally,a preliminary clinical application evaluation was conducted.Results This study successfully developed a comprehensive portable electromagnetic neuronavigation system capable of achieving preoperative planning,intraoperative real-time positioning and navigation,and postoperative evaluation of navigation outcomes.Through rigorous collaborative testing of the system’s software and hardware,the accuracy of electromagnetic neuronavigation has been validated to meet clinical requirements.Conclusions This study developed a portable neuroelectromagnetic navigation system and validated its effectiveness and safety through rigorous model testing and preliminary clinical applications.The system is characterized by its compact size,high precision,excellent portability,and user-friendly operation,making it highly valuable for promoting navigation technology and advancing the precision and minimally invasive nature of neurosurgical procedures.
文摘As the core information infrastructure of modern information warfare,the offensive and defensive confrontations of satellite navigation systems have given rise to navigation warfare,which focuses on seizing control of navigation resources.Based on the space segment,control segment,and user segment of satellite navigation systems,this paper systematically constructs an offensive-defensive technology system for navigation warfare,and deeply analyzes core measures such as signal enhancement and suppression,autonomous navigation and link jamming,anti-jamming reception,and integrated navigation.It extracts key technologies including adaptive nulling antennas,joint filtering,and multi-dimensional combined jamming,and discusses the technical effectiveness of these technologies by incorporating relevant cases.The advantages of navigation warfare stem from multi-segment coordination and technological inte-gration.In the future,the development directions of navigation warfare will focus on three aspects:enhancing satellite capabilities,tackling core technical challenges,and building a multi-dimensional system.
基金co-supported by the National Natural Science Foundation of China(Nos.92371201 and 52192633)the Natural Science Foundation of Shaanxi Province of China(No.2022JC-03)the Aeronautical Science Foundation of China(No.ASFC-20220019070002)。
文摘In multiple Unmanned Aerial Vehicles(UAV)systems,achieving efficient navigation is essential for executing complex tasks and enhancing autonomy.Traditional navigation methods depend on predefined control strategies and trajectory planning and often perform poorly in complex environments.To improve the UAV-environment interaction efficiency,this study proposes a multi-UAV integrated navigation algorithm based on Deep Reinforcement Learning(DRL).This algorithm integrates the Inertial Navigation System(INS),Global Navigation Satellite System(GNSS),and Visual Navigation System(VNS)for comprehensive information fusion.Specifically,an improved multi-UAV integrated navigation algorithm called Information Fusion with MultiAgent Deep Deterministic Policy Gradient(IF-MADDPG)was developed.This algorithm enables UAVs to learn collaboratively and optimize their flight trajectories in real time.Through simulations and experiments,test scenarios in GNSS-denied environments were constructed to evaluate the effectiveness of the algorithm.The experimental results demonstrate that the IF-MADDPG algorithm significantly enhances the collaborative navigation capabilities of multiple UAVs in formation maintenance and GNSS-denied environments.Additionally,it has advantages in terms of mission completion time.This study provides a novel approach for efficient collaboration in multi-UAV systems,which significantly improves the robustness and adaptability of navigation systems.
文摘To address the problem of multi-missile cooperative interception against maneuvering targets at a prespecified impact time and desired Line-of-Sight(LOS)angles in ThreeDimensional(3D)space,this paper proposes a 3D leader-following cooperative interception guidance law.First,in the LOS direction of the leader,an impact time-controlled guidance law is derived based on the fixed-time stability theory,which enables the leader to complete the interception task at a prespecified impact time.Next,in the LOS direction of the followers,by introducing a time consensus tracking error function,a fixed-time consensus tracking guidance law is investigated to guarantee the consensus tracking convergence of the time-to-go.Then,in the direction normal to the LOS,by combining the designed global integral sliding mode surface and the second-order Sliding Mode Control(SMC)theory,an innovative 3D LOS-angle-constrained interception guidance law is developed,which eliminates the reaching phase in the traditional sliding mode guidance laws and effectively saves energy consumption.Moreover,it effectively suppresses the chattering phenomenon while avoiding the singularity issue,and compensates for unknown interference caused by target maneuvering online,making it convenient for practical engineering applications.Finally,theoretical proof analysis and multiple sets of numerical simulation results verify the effectiveness,superiority,and robustness of the investigated guidance law.
